A hierarchical sensorimotor control framework for human-in-the-loop robotic hands.

Seminara, Lucia; Dosen, Strahinja; Mastrogiovanni, Fulvio; Bianchi, Matteo; Watt, Simon; Beckerle, Philipp; Nanayakkara, Thrishantha; Drewing, Knut; Moscatelli, Alessandro; Klatzky, Roberta L; Loeb, Gerald E

Seminara, Lucia; Dosen, Strahinja; Mastrogiovanni, Fulvio; Bianchi, Matteo; Watt, Simon; Beckerle, Philipp; Nanayakkara, Thrishantha; Drewing, Knut; Moscatelli, Alessandro; Klatzky, Roberta L; Loeb, Gerald E.

Afiliação

Seminara L; Department of Electrical, Electronic, and Telecommunication Engineering and Naval Architecture, University of Genoa, Genoa, Italy.
Dosen S; Department of Health Science and Technology, Aalborg University, Aalborg, Denmark.
Mastrogiovanni F; Department of Informatics, Bioengineering, Robotics, and Systems Engineering, University of Genoa, Genoa, Italy.
Bianchi M; Research Center "E. Piaggio" and Department of Information Engineering, University of Pisa, Pisa, Italy.
Watt S; School of Human and Behavioural Sciences, Bangor University, Bangor, UK.
Beckerle P; Department of Electrical Engineering, Friedrich-Alexander Universität Erlangen-Nürnberg, Nürnberg, Germany.
Nanayakkara T; Department of Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander Universität Erlangen-Nürnberg, Nürnberg, Germany.
Drewing K; Dyson School of Design Engineering, Imperial College London, London, UK.
Moscatelli A; Department of Experimental Psychology, HapLab, University of Giessen, Giessen, Germany.
Klatzky RL; Laboratory of Neuromotor Physiology, Fondazione Santa Lucia IRCCS, Rome, Italy.
Loeb GE; Department of Systems Medicine and Centre of Space Biomedicine, University of Rome Tor Vergata, Rome, Italy.

Sci Robot ; 8(78): eadd5434, 2023 05 17.

Article em En | MEDLINE | ID: mdl-37196072

RESUMO

Human manual dexterity relies critically on touch. Robotic and prosthetic hands are much less dexterous and make little use of the many tactile sensors available. We propose a framework modeled on the hierarchical sensorimotor controllers of the nervous system to link sensing to action in human-in-the-loop, haptically enabled, artificial hands.

Assuntos

Procedimentos Cirúrgicos Robóticos; Robótica; Percepção do Tato; Humanos; Mãos/fisiologia; Tato/fisiologia

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Texto completo: 1 Coleções: 01-internacional Base de dados: MEDLINE Assunto principal: Robótica / Percepção do Tato / Procedimentos Cirúrgicos Robóticos Limite: Humans Idioma: En Revista: Sci Robot Ano de publicação: 2023 Tipo de documento: Article

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